00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_MAPPING_DATA_H_ 00018 #define CARTOGRAPHER_MAPPING_DATA_H_ 00019 00020 #include "absl/memory/memory.h" 00021 #include "cartographer/common/time.h" 00022 #include "cartographer/transform/rigid_transform.h" 00023 00024 namespace cartographer { 00025 00026 namespace mapping { 00027 class TrajectoryBuilderInterface; 00028 } 00029 00030 namespace sensor { 00031 00032 class Data { 00033 public: 00034 explicit Data(const std::string &sensor_id) : sensor_id_(sensor_id) {} 00035 virtual ~Data() {} 00036 00037 virtual common::Time GetTime() const = 0; 00038 const std::string &GetSensorId() const { return sensor_id_; } 00039 virtual void AddToTrajectoryBuilder( 00040 mapping::TrajectoryBuilderInterface *trajectory_builder) = 0; 00041 00042 protected: 00043 const std::string sensor_id_; 00044 }; 00045 00046 } // namespace sensor 00047 } // namespace cartographer 00048 00049 #endif // CARTOGRAPHER_MAPPING_DATA_H_